Add check for verts and faces being on same device and also checks for pointclouds/features/normals being on the same device (#384)

Summary: Pull Request resolved: #384

Test Plan: `test_meshes` and `test_points`

Reviewed By: gkioxari

Differential Revision: D24730524

Pulled By: nikhilaravi

fbshipit-source-id: acbd35be5d9f1b13b4d56f3db14f6e8c2c0f7596

Author: Randl

pytorch3d/structures/meshes.py

@@ -325,6 +325,13 @@ def __init__(self, verts=None, faces=None, textures=None):
             self.valid = torch.zeros((self._N,), dtype=torch.bool, device=self.device)
             if self._N > 0:
                 self.device = self._verts_list[0].device
+                if not (
+                    all(v.device == self.device for v in verts)
+                    and all(f.device == self.device for f in faces)
+                ):
+                    raise ValueError(
+                        "All Verts and Faces tensors should be on same device."
+                    )
                 self._num_verts_per_mesh = torch.tensor(
                     [len(v) for v in self._verts_list], device=self.device
                 )
@@ -341,7 +348,6 @@ def __init__(self, verts=None, faces=None, textures=None):
                     dtype=torch.bool,
                     device=self.device,
                 )
-
                 if (len(self._num_verts_per_mesh.unique()) == 1) and (
                     len(self._num_faces_per_mesh.unique()) == 1
                 ):
@@ -355,6 +361,10 @@ def __init__(self, verts=None, faces=None, textures=None):
             self._N = self._verts_padded.shape[0]
             self._V = self._verts_padded.shape[1]
 
+            if verts.device != faces.device:
+                msg = "Verts and Faces tensors should be on same device. \n Got {} and {}."
+                raise ValueError(msg.format(verts.device, faces.device))
+
             self.device = self._verts_padded.device
             self.valid = torch.zeros((self._N,), dtype=torch.bool, device=self.device)
             if self._N > 0:

pytorch3d/structures/pointclouds.py

@@ -180,11 +180,13 @@ def __init__(self, points, normals=None, features=None):
             self._num_points_per_cloud = []
 
             if self._N > 0:
+                self.device = self._points_list[0].device
                 for p in self._points_list:
                     if len(p) > 0 and (p.dim() != 2 or p.shape[1] != 3):
                         raise ValueError("Clouds in list must be of shape Px3 or empty")
+                    if p.device != self.device:
+                        raise ValueError("All points must be on the same device")
 
-                self.device = self._points_list[0].device
                 num_points_per_cloud = torch.tensor(
                     [len(p) for p in self._points_list], device=self.device
                 )
@@ -261,6 +263,10 @@ def _parse_auxiliary_input(self, aux_input):
                     raise ValueError(
                         "A cloud has mismatched numbers of points and inputs"
                     )
+                if d.device != self.device:
+                    raise ValueError(
+                        "All auxillary inputs must be on the same device as the points."
+                    )
                 if p > 0:
                     if d.dim() != 2:
                         raise ValueError(
@@ -283,6 +289,10 @@ def _parse_auxiliary_input(self, aux_input):
                     "Inputs tensor must have the right maximum \
                     number of points in each cloud."
                 )
+            if aux_input.device != self.device:
+                raise ValueError(
+                    "All auxillary inputs must be on the same device as the points."
+                )
             aux_input_C = aux_input.shape[2]
             return None, aux_input, aux_input_C
         else:

tests/test_meshes.py

@@ -1,5 +1,6 @@
 # Copyright (c) Facebook, Inc. and its affiliates. All rights reserved.
 
+import random
 import unittest
 
 import numpy as np
@@ -162,6 +163,29 @@ def test_simple(self):
             torch.tensor([0, 3, 8], dtype=torch.int64),
         )
 
+    def test_init_error(self):
+        # Check if correct errors are raised when verts/faces are on
+        # different devices
+
+        mesh = TestMeshes.init_mesh(10, 10, 100)
+        verts_list = mesh.verts_list()  # all tensors on cpu
+        verts_list = [
+            v.to("cuda:0") if random.uniform(0, 1) > 0.5 else v for v in verts_list
+        ]
+        faces_list = mesh.faces_list()
+
+        with self.assertRaises(ValueError) as cm:
+            Meshes(verts=verts_list, faces=faces_list)
+            self.assertTrue("same device" in cm.msg)
+
+        verts_padded = mesh.verts_padded()  # on cpu
+        verts_padded = verts_padded.to("cuda:0")
+        faces_padded = mesh.faces_padded()
+
+        with self.assertRaises(ValueError) as cm:
+            Meshes(verts=verts_padded, faces=faces_padded)
+            self.assertTrue("same device" in cm.msg)
+
     def test_simple_random_meshes(self):
 
         # Define the test mesh object either as a list or tensor of faces/verts.

tests/test_pointclouds.py

@@ -1,6 +1,7 @@
 # Copyright (c) Facebook, Inc. and its affiliates. All rights reserved.
 
 
+import random
 import unittest
 
 import numpy as np
@@ -126,6 +127,44 @@ def test_simple(self):
             torch.tensor([0, 1, 2, 5, 6, 7, 8, 10, 11, 12, 13, 14]),
         )
 
+    def test_init_error(self):
+        # Check if correct errors are raised when verts/faces are on
+        # different devices
+
+        clouds = self.init_cloud(10, 100, 5)
+        points_list = clouds.points_list()  # all tensors on cuda:0
+        points_list = [
+            p.to("cpu") if random.uniform(0, 1) > 0.5 else p for p in points_list
+        ]
+        features_list = clouds.features_list()
+        normals_list = clouds.normals_list()
+
+        with self.assertRaises(ValueError) as cm:
+            Pointclouds(
+                points=points_list, features=features_list, normals=normals_list
+            )
+            self.assertTrue("same device" in cm.msg)
+
+        points_list = clouds.points_list()
+        features_list = [
+            f.to("cpu") if random.uniform(0, 1) > 0.2 else f for f in features_list
+        ]
+        with self.assertRaises(ValueError) as cm:
+            Pointclouds(
+                points=points_list, features=features_list, normals=normals_list
+            )
+            self.assertTrue("same device" in cm.msg)
+
+        points_padded = clouds.points_padded()  # on cuda:0
+        features_padded = clouds.features_padded().to("cpu")
+        normals_padded = clouds.normals_padded()
+
+        with self.assertRaises(ValueError) as cm:
+            Pointclouds(
+                points=points_padded, features=features_padded, normals=normals_padded
+            )
+            self.assertTrue("same device" in cm.msg)
+
     def test_all_constructions(self):
         public_getters = [
             "points_list",